这个方法克服了原方法不能保证闭环系统稳定性的缺点，且更能体现“误差最小这个目标。”
The method overcomes the shortcoming of the original method which cannot insure the stability of closed loop system. Besides, this method can reach the object of minimum error to the largest extent.
而且这种模型可以看作是线性模型的扩展，因此许多线性控制理论的结果可用来分析闭环系统稳定性。
Also this model can be seen as the extension of linear model, so many results of linear system theory can be applied to analyze stability of closed loop system.
然后将此模型变换成最小相位系统，在此基础上设计了基于无源理论的反馈控制算法，给出了闭环系统稳定性证明，保证被控系统的误差渐近收敛。
Based_on the passive theory, the feedback control algorithm was proposed to make the controlled system asymptotically converge in the premise that the controlled system has minimum phase.
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